novaphy.ContactManifold¶
ContactManifold is not part of the current public Python API.
The collision pipeline writes reduced rigid contacts directly into Contacts. Pair identity and optional persistence data are represented by row-wise columns such as:
| Field | Purpose |
|---|---|
rigid_contact_shape0, rigid_contact_shape1 |
Shape pair for each active contact row. |
rigid_contact_body0, rigid_contact_body1 |
Resolved rigid body pair. |
rigid_contact_point_id |
Feature / persistence identifier. |
rigid_contact_match_index |
Optional contact matching index when contact matching is enabled. |
Use contacts.rigid_count() and group rows by body or shape pair in user code
when manifold-like post-processing is needed.